Sensing Reality! LiDAR Sensors LR-1F Series User Manual Please read this user manual for best product performance before using the product. Be sure to keep this manual properly for future reference.
User Manual LR-1F 目录 1 About this documen ..................................................................................................................................................... 1 2 Safety information........................................................................................................................................................ 1 3 Product introduction .......................................................................................................................
User Manual LR-1F 1 About this documen This document summarizes supplementary information on mounting and electrical installation as well as measured value output format of the LR-1F. It is aimed at sufficiently qualified personnel for the purposes of installation, commissioning and further data processing.
User Manual LR-1F Figure 1 Back mounting interface of LR-1F Bottom-mounted There are three M5 screw holes (hole depth is 8mm) at the bottom of the LiDAR. Figure 2 Bottom mounting interface of LR-1F 4.2 Pin and wire color assignments LR-1F is equipped with 3 interfaces, namely power supply interface, I/O interface and 4 PIN Ethernet interface. Net config of PC DHCP:off Power(12~32DC) IP: 192.168.1.10 Mask:255.255.255.
User Manual LR-1F Power interface The power interface adopts 12~32VDC power supply NO. 1 2 3 4 5 Definition GND GND NC NC VCC（12~32VDC） Cable color black gray blue white brown/red Table 1 Definition of power interface Male: Female: Figure 4 Diagram of power interface I/O interface NO.
User Manual LR-1F NO. definition 6 RxData-：receive- 7 NC 8 NC Table 3 Definition of Ethernet interface Female: Male: Figure 6 Diagram of Ethernet interface 4.3 Communication interface The LR-1F is connected to the computer by a RJ-45 Ethernet interface. The computer IP address should be set up before communication. The LiDAR and computer IP must be set up in the same subnet without any conflict. The host port is 2368 by default. The factory default settings are as follows Computer IP:192.
User Manual LR-1F Figure 8 Step 2 of computer IP setting Figure 9 Step 3 of computer IP setting 5 Measurement principle Detector Laser diode Figure 10 OMEN-1F-202012 Diagram of LR-1F LiDAR work principle 5
User Manual LR-1F As is shown in the figure above, LR-1F measures distance by using the time-of-flight principle. The LiDAR emits pulsed laser beams using a laser diode. If one of these laser pulses hits an object or a person, this is reflected at its surface. The reflection is detected in the LiDAR's receiver by a photodiode. The LiDAR calculates the distance to the object from the transit time required by the light from emission of the beam to receipt of the reflection.
User Manual LR-1F Offset Length Description 22 2 Internal model code 24 2 Hardware version 26 2 Software version 28 4 Timestamp, unit: ms 32 2 Bit[14:0]: Rotation rate BIT 15：rotation direction（0：clockwise，1： anticlockwise） 34 1 Safe zone status, same as status of the hardware INPUT/OUTPUT BIT[3:0]: Same as OUTPUT[3:0] BIT[7:4]: Same as INPUT[3:0] 35 1 Error status, the corresponding position is “1”, indicates an error BIT0: Motor fault, BIT1: Power fault, BIT2: Temperature fault 36
User Manual LR-1F 6.4.2 Distance calculation Details on calculating distance of LR-1F is shown as below: 1) Obtain distance value:0x11 & 0x12 2) Interchange of high bits and low bits:0x12 & 0x11 3) Combine into an unsigned hexadecimal number:0x1211 4) Convert to decimal:4625 5) Multiply by distance ration:suppose distance ration is 1mm 6) Result:4625mm 6.4.
User Manual LR-1F Figure 12 Parameter configuration of web page 7.2 Configuration of OlamViewer The OlamViewer interface is shown as following. Please refer to OlamViewer software manual for detail. Figure 13 Sample of The OlamViewer interface The Web page setting interface and The OlamViewer interface may change due to continuous update of products and is subject to actual content.
User Manual LR-1F 8 Troubleshooting Problem Method LiDAR fails to scan LiDAR scan produces no data Verify whether the power supply is properly connected Verify whether the power voltage meets 12~32VDC Please contact OLEI if the above conditions are normal. Verify whether the network connection is normal Verify whether the IP settings on the data receiver are correct.
User Manual LR-1F Appendix A Data packet OMEN-1F-202012 11
User Manual LR-1F Appendix B Mechanical Dimensions OMEN-1F-202012 12
User Manual LR-1F Appendix C Example of Electrical Connection OUTPUT Appendix D Firmware Upgrade This appendix will explain how to use LidarUpgrade2D to upgrade the firmware version of the LR-1F series LiDAR. Figure 14 Icon D.1 Function of software For 2D LiDAR LR-1F series firmware upgrade D.2 Surroundings for software - Windows 7,8,10 - .Net framework 4.5.2 D.3 Software operation -1. Connect the LiDAR correctly. Check whether the LiDAR communication is normal. -2.
User Manual LR-1F Figure 15 Interface of software upgrade -3. Clicking the"Upgrade",restart the LiDAR power, the file will be downloaded to the LiDAR automatically. -4. Check the"Continuous mode", after the upgrade, it will automatically wait for the next upgrade, which can be used to upgrade LiDAR firmware in batches. Appendix E ROS Drive One-key script of 2D LiDAR ROS drive: wget http://cn.ole-systems.com/sh/ole2d.sh chmod -R 777 ole2d.sh&&./ole2d.
User Manual LR-1F these IP and port can be modified by vendor config software 4. run LiDAR drive at first terminal >roslaunch olelidar scan.launch rviz view 1. new terminal,then run rviz >rosrun rviz rviz -f olelidar 2. at rviz,add topic olelidar/scan/LaserScan Appendix F Suggestions on Mechanical Installation When installing LiDAR, pay attention to the following points: 1. Please remove the transparent protective film on the window when using it on site. 2.
User Manual LR-1F Figure 18 Placement of two LiDARs with parallel offset Figure 19 Placement of two LiDARs with parallel offset, one of these upside down Figure 20 Placement of two LiDARs upside down, parallel offset Figure 21 Placement of two LiDARs with parallel offset, one of these upside down OMEN-1F-202012 16
User Manual LR-1F The emission position of the 2D LiDAR from the reference plane is as follows: Figure 22 Light emission position of LR-1BS, LR-1B, LR-1F Appendix G Cleaning of sensor OLE-LiDAR, especially the ring-shaped protective cover, should be kept clean in order to accurately sense the surrounding environment. G.1 Notice Please read Appendix E thoroughly and carefully before cleaning OLE-LiDAR, otherwise improper operation may damage the equipment. G.2 Materials required 1.
User Manual LR-1F Official WeChat Regarding changes in specifications, etc., without notice! MorpheusTEK Inc Exclusive OLEI Distributor Partner sales@morpheustek.com +1-610 883 6026 © Copyright: Hangzhou Ole-systems Co., Ltd.
